旧塩港電氣工業製造社 主页旧塩港電氣工業製造社 主页

物联网工程师-底盘控制

IoT Engineer - Chassis Control

上海发那科机器人有限公司（SHANGHAI-FANUC Robotics）

地点
上海，中国
发布
2025-12-21
资历
experienced
部门
研发中心
招聘主体
上海发那科机器人有限公司

机器人移动机器人与 AMR

职责

  • 负责移动机器人（AGV/AMR）底盘路径跟踪控制算法（Pure Pursuit、Stanley、MPC 等）的设计与优化，开发并优化速度规划与解算算法，支持差速、舵轮、履带式等多驱动形式，实现底盘同步控制与协调运动（如双轮同步、舵轮联动、驱动差补偿等）。
  • 负责底盘与上层系统（导航/调度/PLC/云端）的通信协议设计与实现，支持 CANopen、EtherCAT、Modbus、ROS2、UDP/TCP 等协议，推动底盘控制模块接口标准化与模块化设计，支持不同车型快速适配。
  • 参与整机调试，分析运动轨迹误差、轮速同步误差等问题，基于实测数据进行系统辨识、控制参数整定与闭环优化，配合机械、电气、导航团队完成联合调试与现场验证。
  • 参与运动控制架构设计（如层级控制、状态机、任务调度），搭建调试工具与可视化监控平台（如曲线监控、CAN 抓包、ROS bag 分析），提升底盘控制代码的稳定性、可维护性与复用性。

必备要求

  • 硕士及以上学历，自动化、控制、机电一体相关专业毕业。
  • 5 年以上智能移动设备控制经验；有大型 AGV 项目（如仓储物流、智能制造场景）控制技术落地经验。
  • 熟悉运动学与动力学建模，掌握 PID、前馈补偿、MPC 等控制方法。
  • 熟练掌握一种或多种路径跟踪算法（Pure Pursuit、Stanley、LQR、MPC 等）。
  • 理解轮速解算、运动学正逆解、速度分配与同步等底盘核心算法。
  • 熟悉常用通信协议（CANopen、EtherCAT、ROS2 Topic/Service/Action 等）。
  • 熟练使用 C/C++ / Python / ROS2 进行算法实现与系统集成。
  • 具备一定的嵌入式编程经验（如 STM32、DSP、CODESYS、PLC）。
  • 有多驱动底盘（差速、舵轮、履带）控制经验。
  • 熟悉控制回路的实时性优化、滤波与状态估计（Kalman / ESKF）。
  • 有 ROS2 / Linux 实际项目经验。
  • 有底盘调试经验（含 CAN 分析、同步逻辑验证、限速与安全机制调优）。

Responsibilities

  • Design and optimize path tracking control algorithms (Pure Pursuit, Stanley, MPC, etc.) for mobile robot (AGV/AMR) chassis; develop and optimize speed planning and solving algorithms for differential, steering wheel, and tracked chassis; achieve synchronous control and coordinated motion (e.g., dual-wheel synchronization, steering wheel linkage, drive difference compensation).
  • Design and implement communication protocols between chassis and upper systems (navigation/dispatch/PLC/cloud), supporting CANopen, EtherCAT, Modbus, ROS2, UDP/TCP, etc.; promote interface standardization and modular design of chassis control modules to support rapid adaptation of different vehicle models.
  • Participate in whole-machine debugging, analyze motion trajectory errors and wheel speed synchronization errors; perform system identification, control parameter tuning, and closed-loop optimization based on measured data; collaborate with mechanical, electrical, and navigation teams for joint debugging and field validation.
  • Participate in motion control architecture design (e.g., hierarchical control, state machine, task scheduling); build debugging tools and visualization monitoring platforms (e.g., curve monitoring, CAN capture, ROS bag analysis); continuously improve stability, maintainability, and reusability of chassis control code.

Must Have

  • Master's degree or above in Automation, Control, Mechatronics, or related fields.
  • 5+ years of experience in intelligent mobile equipment control; experience in implementing control technologies in large AGV projects (e.g., warehouse logistics, intelligent manufacturing scenarios).
  • Familiar with kinematics and dynamics modeling; proficient in control methods such as PID, feedforward compensation, MPC.
  • Proficient in one or more path tracking algorithms (Pure Pursuit, Stanley, LQR, MPC, etc.).
  • Understanding of core chassis algorithms such as wheel speed solving, forward/inverse kinematics, speed allocation and synchronization.
  • Familiar with common communication protocols (CANopen, EtherCAT, ROS2 Topic/Service/Action, etc.).
  • Proficient in C/C++ / Python / ROS2 for algorithm implementation and system integration.
  • Some embedded programming experience (e.g., STM32, DSP, CODESYS, PLC).
  • Experience in multi-drive chassis (differential, steering wheel, tracked) control.
  • Familiar with real-time optimization, filtering, and state estimation (Kalman / ESKF) for control loops.
  • Practical project experience with ROS2 / Linux.
  • Chassis debugging experience (including CAN analysis, synchronization logic verification, speed limit and safety mechanism tuning).

公司简介

上海发那科由上海电气集团与FANUC集团联合投资组建，自1997年成立以来，紧跟中国制造业高速发展浪潮，致力于为各行业提供专业优质的机器人、智能机械、智能制造及数字化解决方案，现已成为国内最优秀的智能制造解决方案供应商之一。